Volume 19, No. 2, 2022
Integrated Navigation System (INS) And Global Positioning System (GPS) Using H-Infinity Filter
Lakshmi Shrinivasan , Reshma Verma , M D Nandeesh , Divya M N
Abstract
The global positioning system is gaining wide importance these days in the navigation of vehicles from their starting point to their destination. This service is free of cost and can be used in any part of the world. It gives accurate measurements like position, time constraints on the ground as well as in space. GPS satellite functioning is that it transmits signals to the respective receivers; these signals need a clear view so that they perform well in an open environment like forest areas. Inertial navigation systems (INS) consist of motion sensors like accelerometers and gyroscopes it is provided with initial information like position, the velocity of the object moving from the GPS satellite. However, GPS has certain limitations like the GPS outage problem, which results in jamming and other problems, which weaken the system. To encounter these issues, the fusion of data techniques is carried out with the help of filters by incorporating AI techniques to attain better performance as well as to predict the navigation purposes. In the GPS/INS datasets considered here, the data is preprocessed with the help of H∞ filter. GPS outage issue is solved by these filters, increasing the precision, and estimating the position of GPS. The results obtained after the experimental analysis show that the position of GPS is predicted accurately, by considering the vehicle measurement data and its path on the MATLAB framework.
Pages: 2785-2795
Keywords: GPS, INS, Global Positioning System, GPS outage, Inertial navigation systems